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Previously  Programs  Policies  Determine action from world state rather than from internal program counter  Building simple control loops from feedback  Compare measured state and desired state  Action is f(state error)  Linear feedback is when f is multiplication by a constant (or constant matrix)

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Designing behaviors using potential fields  Suppose:  Your state is your position in space  Your action is a velocity vector  General technique for constructing policies:  Assign every point in space x a “value” V(x)  Use the gradient  V(x) as your policy  Analogy to physics   V(x) is like a force field  V(x) is its potential Approach behavior (tropism) Avoidance behavior